CN114084136A - Longitudinal control following target selection method and device in vehicle lane changing process - Google Patents

Longitudinal control following target selection method and device in vehicle lane changing process Download PDF

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CN114084136A
CN114084136A CN202010777769.XA CN202010777769A CN114084136A CN 114084136 A CN114084136 A CN 114084136A CN 202010777769 A CN202010777769 A CN 202010777769A CN 114084136 A CN114084136 A CN 114084136A
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lane
vehicle
target
candidate
following
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CN114084136B (en
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徐亮亮
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SAIC Motor Corp Ltd
Shanghai Automotive Industry Corp Group
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SAIC Motor Corp Ltd
Shanghai Automotive Industry Corp Group
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles

Abstract

The invention provides a method and a device for selecting a longitudinal control car following target in a vehicle lane changing process. According to the method and the device, the collision risk possibly caused by the longitudinal following of a single target in the automatic lane changing process of the vehicle with the front vehicle can be avoided, the safety of the automatic lane changing process is ensured, and the functional experience of a driver is improved.

Description

Longitudinal control following target selection method and device in vehicle lane changing process
Technical Field
The invention relates to the technical field of automatic driving, in particular to a longitudinal control vehicle following target selection method and device in a vehicle lane changing process.
Background
In the field of vehicle active safety, the automatic lane change auxiliary system can safely and comfortably automatically complete the lane change process, so that a driver is liberated from frequent lane change and overtaking driving actions, and the automatic lane change auxiliary system is a key component for realizing the complete automatic driving of an automobile.
However, the automatic lane-changing behavior of a vehicle is a complex dynamic process involving longitudinal and lateral control of the vehicle. Unlike an adaptive cruise system (ACC) which selects a single following target in front of a vehicle to control the longitudinal movement of the vehicle, an automatic lane change process is a lane crossing behavior, and the longitudinal control of the vehicle in the lane change process may be related to the movement state of the target in front of the lane where the vehicle is located and the movement state of the target in front of the target lane.
Therefore, if the longitudinal control of the vehicle only considers a single target to carry out the following control in the lane changing process, the collision risk between the vehicle and the front vehicle can be caused in the lane changing process, and the life and property safety of a driver is seriously threatened.
Disclosure of Invention
In view of the above, in order to solve the above problems, the present invention provides a method and a device for selecting a longitudinal control following target in a lane change process of a vehicle, wherein the technical scheme is as follows:
a longitudinal control following target selection method in a vehicle lane change process, the method comprising:
determining candidate car-following targets of lanes of a vehicle in a lane changing process, wherein the lanes comprise a lane where the vehicle is located and a target lane where the vehicle changes;
calculating, for each of the self lane and the target lane, an expected deceleration of a candidate following target of the lane, and calculating a warning indicator of the vehicle and the candidate following target of the lane, the warning indicator representing a degree of collision risk;
and determining the best following target from the candidate following targets corresponding to the self lane and the candidate following targets of the target lane based on the expected deceleration and the alarm index corresponding to the self lane and the target lane respectively.
Preferably, the determining the candidate following target of the lane of the vehicle in the lane changing process includes:
identifying the self lane and the target lane;
determining a first vehicle located in the own lane and a second vehicle located in the target lane among vehicles ahead of the vehicles;
and taking the vehicle with the smallest longitudinal relative distance to the vehicle in the first vehicle as a candidate following target of the self lane, and taking the vehicle with the smallest longitudinal relative distance to the vehicle in the second vehicle as a candidate following target of the target lane.
Preferably, the calculating the expected deceleration of the candidate following target of the lane includes:
acquiring longitudinal absolute acceleration and absolute speed of the candidate car-following target of the lane, longitudinal relative distance and longitudinal relative speed between the vehicle and the candidate car-following target of the lane, and substituting the longitudinal absolute acceleration and the absolute speed into a first formula to obtain expected deceleration A of the candidate car-following target of the laneacc：
Figure BDA0002619103760000021
Wherein v isrelIs the longitudinal relative speed between the vehicle and the candidate following target of the lane, aobjIs the longitudinal absolute acceleration, t, of the candidate following target of the lanesFor a predetermined safety time interval, drelIs the longitudinal relative distance between the vehicle and the candidate following target of the lane, vobjThe absolute speed of the candidate following target of the lane.
Preferably, the calculating the warning index of the vehicle and the candidate following target of the lane includes:
acquiring a longitudinal relative distance and a longitudinal relative speed between the vehicle and a candidate vehicle following target of the lane and an absolute speed of the vehicle;
substituting the longitudinal relative speed between the vehicle and the candidate following target of the lane and the absolute speed of the vehicle into the following second formula to obtain a first distance dbrAnd the first distance is an emergency braking distance that the vehicle and the candidate following target of the lane are decelerated to be static and not collided:
Figure BDA0002619103760000031
wherein v isrelIs the longitudinal relative speed between the vehicle and the candidate following target of the lane, ts，delayFor a predetermined brake system reaction time, vegoIs the absolute speed of the vehicle, amaxA preset maximum deceleration for the vehicle on a normal road;
substituting the longitudinal relative speed between the vehicle and the candidate following target of the lane and the absolute speed of the vehicle into a third formula to obtain a second distance dwAnd the second distance is an alarm distance that the vehicle and the candidate following target of the lane are decelerated to be static and do not collide:
Figure BDA0002619103760000032
wherein, th，delayA preset driver reaction time for the vehicle;
substituting the longitudinal relative distance between the vehicle and the candidate car-following target of the lane, the first distance and the second distance into the following fourth formula to obtain the alarm index w of the candidate car-following target of the lane:
Figure BDA0002619103760000033
wherein d isrelAnd the longitudinal relative distance between the vehicle and the candidate car-following target of the lane is obtained.
Preferably, the determining an optimal following target from candidate following targets corresponding to the own lane and candidate following targets of the target lane based on the expected deceleration and the alarm index corresponding to each of the own lane and the target lane includes:
comparing the expected deceleration corresponding to the self lane with the expected deceleration corresponding to the target lane;
if the expected deceleration corresponding to the self lane is larger than the expected deceleration corresponding to the target lane, taking the candidate car following target of the target lane as the optimal car following target;
if the expected deceleration corresponding to the self lane is smaller than the expected deceleration corresponding to the target lane, taking the candidate car following target of the self lane as the optimal car following target;
if the expected deceleration corresponding to the self lane is equal to the expected deceleration corresponding to the target lane, comparing the alarm index corresponding to the self lane with the alarm index corresponding to the target lane;
if the alarm index corresponding to the self lane is larger than the alarm index corresponding to the target lane, taking the candidate car following target of the target lane as the optimal car following target;
and if the alarm index corresponding to the self lane is smaller than or equal to the alarm index corresponding to the target lane, taking the candidate car following target of the self lane as the optimal car following target.
A longitudinal control following target selection device in a vehicle lane change process, the device comprising:
the candidate vehicle following target determining module is used for determining candidate vehicle following targets of lanes in the lane changing process of the vehicle, wherein the lanes comprise a self lane where the vehicle is located and a target lane where the vehicle changes lanes;
the optimal following target determining module is used for calculating expected deceleration of candidate following targets of the lane and calculating a warning index of the vehicle and the candidate following targets of the lane, wherein the warning index represents collision risk degree; and determining the best following target from the candidate following targets corresponding to the self lane and the candidate following targets of the target lane based on the expected deceleration and the alarm index corresponding to the self lane and the target lane respectively.
Preferably, the candidate car following target determination module is specifically configured to:
identifying the self lane and the target lane; determining a first vehicle located in the own lane and a second vehicle located in the target lane among vehicles ahead of the vehicles; and taking the vehicle with the smallest longitudinal relative distance to the vehicle in the first vehicle as a candidate following target of the self lane, and taking the vehicle with the smallest longitudinal relative distance to the vehicle in the second vehicle as a candidate following target of the target lane.
Preferably, the optimal following target determination module for calculating the expected deceleration of the candidate following target of the lane is specifically configured to:
acquiring longitudinal absolute acceleration and absolute speed of the candidate car-following target of the lane, longitudinal relative distance and longitudinal relative speed between the vehicle and the candidate car-following target of the lane, and substituting the longitudinal absolute acceleration and the absolute speed into a first formula to obtain expected deceleration A of the candidate car-following target of the laneacc：
Figure BDA0002619103760000051
Wherein v isrelIs the longitudinal relative speed between the vehicle and the candidate following target of the lane, aobjIs the longitudinal absolute acceleration, t, of the candidate following target of the lanesFor a predetermined safety time interval, drelIs the longitudinal relative distance between the vehicle and the candidate following target of the lane, vobjThe absolute speed of the candidate following target of the lane.
Preferably, the optimal following target determining module, configured to calculate the warning indicator of the candidate following target of the vehicle and the lane, is specifically configured to:
acquiring a longitudinal relative distance and a longitudinal relative speed between the vehicle and a candidate vehicle following target of the lane and an absolute speed of the vehicle;
substituting the longitudinal relative speed between the vehicle and the candidate following target of the lane and the absolute speed of the vehicle into the following second formula to obtain a first distance dbrAnd the first distance is an emergency braking distance that the vehicle and the candidate following target of the lane are decelerated to be static and not collided:
Figure BDA0002619103760000052
wherein v isrelIs the longitudinal relative speed between the vehicle and the candidate following target of the lane, ts，delayFor a predetermined brake system reaction time, vegoIs the absolute speed of the vehicle, amaxA preset maximum deceleration for the vehicle on a normal road;
substituting the longitudinal relative speed between the vehicle and the candidate following target of the lane and the absolute speed of the vehicle into a third formula to obtain a second distance dwAnd the second distance is an alarm distance that the vehicle and the candidate following target of the lane are decelerated to be static and do not collide:
Figure BDA0002619103760000061
wherein, th，delayA preset driver reaction time for the vehicle;
substituting the longitudinal relative distance between the vehicle and the candidate car-following target of the lane, the first distance and the second distance into the following fourth formula to obtain the alarm index w of the candidate car-following target of the lane:
Figure BDA0002619103760000062
wherein d isrelIs the longitudinal opposition between the vehicle and the candidate following target of the laneDistance.
Preferably, the optimal following target determining module, configured to determine an optimal following target from candidate following targets corresponding to the own lane and candidate following targets of the target lane based on expected deceleration and an alarm indicator corresponding to each of the own lane and the target lane, is specifically configured to:
comparing the expected deceleration corresponding to the self lane with the expected deceleration corresponding to the target lane; if the expected deceleration corresponding to the self lane is larger than the expected deceleration corresponding to the target lane, taking the candidate car following target of the target lane as the optimal car following target; if the expected deceleration corresponding to the self lane is smaller than the expected deceleration corresponding to the target lane, taking the candidate car following target of the self lane as the optimal car following target; if the expected deceleration corresponding to the self lane is equal to the expected deceleration corresponding to the target lane, comparing the alarm index corresponding to the self lane with the alarm index corresponding to the target lane; if the alarm index corresponding to the self lane is larger than the alarm index corresponding to the target lane, taking the candidate car following target of the target lane as the optimal car following target; and if the alarm index corresponding to the self lane is smaller than or equal to the alarm index corresponding to the target lane, taking the candidate car following target of the self lane as the optimal car following target.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a method and a device for selecting a longitudinal control car following target in a vehicle lane changing process. According to the method and the device, the collision risk possibly caused by the longitudinal following of a single target in the automatic lane changing process of the vehicle with the front vehicle can be avoided, the safety of the automatic lane changing process is ensured, and the functional experience of a driver is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of a collision scene based on single-target longitudinal control in an automatic lane change process provided by the present invention;
FIG. 2 is a schematic diagram of another collision scenario based on single-target longitudinal control in the automatic lane change process provided by the present invention;
FIG. 3 is a flowchart of a method for selecting a longitudinal control following target in a lane change process of a vehicle according to the present invention;
FIG. 4 is a partial method flowchart of a longitudinal control following target selection method in a lane change process of a vehicle according to the present invention;
FIG. 5 is a schematic view of a lane identification scenario during an automatic lane change process provided by the present invention;
FIG. 6 is a schematic diagram of another scene of lane recognition during an automatic lane change process provided by the present invention;
FIG. 7 is a schematic view of a scene of lane matching in the automatic lane change process provided by the present invention;
FIG. 8 is a schematic view of a scenario for calculating a first distance and a second distance in an alarm indicator according to the present invention;
fig. 9 is a schematic structural diagram of a longitudinal control following target selection device in the vehicle lane change process provided by the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
For the convenience of understanding of the present application, the following description will first be made of the related art:
the intelligent traffic system provides two effective solutions for reducing traffic accidents: firstly, the occurrence of traffic accidents is reduced by the traffic information provided by an advanced traffic management system; and secondly, starting from the vehicle, a driving auxiliary system is researched to assist a driver to make intelligent decision and control on the vehicle, and accidents are reduced or avoided by means of early warning, auxiliary braking or auxiliary steering and the like. It has been shown that active safety technologies such as adaptive cruise systems (ACC), automatic emergency braking systems (AEB) and other driving assistance systems play a significant role in improving traffic safety.
Automatic lane change Assist Systems (ALCs) are classified into driver-triggered and non-driver-triggered. The driver triggered lane change means that the vehicle automatically executes and completes the lane change process under the transverse and longitudinal control of the system after the driver triggers the steering deflector rod, and the non-driver triggered lane change means that the vehicle can actively trigger and automatically execute and complete the lane change process at a proper position and time according to signals such as a navigation path and the like without triggering of the driver. The automatic lane changing auxiliary system can automatically complete the lane changing process more safely and comfortably, and a driver is liberated from frequent lane changing and overtaking driving actions, so that the automatic lane changing auxiliary system is a key component for realizing the complete automatic driving of the automobile.
Whether the lane is changed in a driver-triggered mode or a non-driver-triggered mode, the vehicle needs to adjust the self motion state according to the dynamic behavior of the surrounding vehicles and complete the driving target. The automatic lane-changing behavior of a vehicle is a complex dynamic process involving longitudinal and lateral control of the vehicle. The method is different from the method that the self-adaptive cruise system selects a single following target in the front of the vehicle to control the longitudinal movement of the vehicle: the automatic lane changing process is a lane crossing behavior, and the longitudinal control of the vehicle in the lane changing process can be related to the motion state of an object in front of a lane where the vehicle is located and the motion state of the object in front of the lane. If the longitudinal control of the vehicle only considers a single target to carry out vehicle following control in the lane changing process, the collision risk between the vehicle and the front vehicle in the lane changing process can be caused, and the life and property safety of a driver is seriously threatened.
When there are vehicles in front of the own lane or in front of the target lane during the automatic lane change of the vehicle, if the own vehicle longitudinal control is based on a single target to drive with the vehicle, the own vehicle may collide with the vehicle in front of the own lane or the vehicle in front of the target lane, see the following two exemplary scenarios.
Scenario one): if the vehicle in front of the self lane is accelerated to run and the vehicle in front of the target lane keeps unchanged in motion state, if the vehicle longitudinally follows the vehicle in front of the self lane to run with acceleration, the vehicle in front of the target lane may collide in the lane changing process, as shown in fig. 1.
Scenario b): if the vehicle in front of the target lane accelerates and keeps unchanged in motion state during the lane changing process, the vehicle may collide with the vehicle in front of the target lane during the lane changing process, as shown in fig. 2.
In view of the foregoing analysis, the present invention aims to provide a longitudinal control following target selection method for use in a vehicle lane change process in an automatic lane change assisting system, wherein an optimal vehicle following target vehicle is selected to perform longitudinal following control of a vehicle according to motion states of the vehicle ahead of a host lane and the vehicle ahead of a target lane during the vehicle executing an automatic lane change, so as to avoid collision between the vehicle and the vehicle ahead of the host lane or the vehicle ahead of the target lane during the automatic lane change, and improve the success rate and comfort level of the automatic lane change.
The invention provides a longitudinal control following target selection method in a vehicle lane changing process, wherein a method flow chart of the method is shown in figure 3 and comprises the following steps:
and S10, determining candidate following targets of lanes in the lane changing process of the vehicle, wherein the lanes comprise the own lane where the vehicle is located and the target lane of the lane changing of the vehicle.
In the embodiment of the invention, two candidate car-following targets in front of the lane and the target lane are determined according to the position and motion information of all targets in front, the multi-lane line information and the turn light information which are input by a vehicle sensing system.
In a specific implementation process, the step S10 "determining a candidate following target of a lane of the vehicle in the lane changing process" may adopt the following steps, and a flowchart of the method is shown in fig. 4:
s101, recognizing the self lane and the target lane.
In the embodiment of the invention, when the vehicle starts to automatically change lanes and does not start to cross lane lines, a road area surrounded by a first lane line in the lane changing direction indicated by the turn lamp and a first lane line in the opposite direction of the lane changing direction is judged as a self lane, and a road area surrounded by the first lane line in the lane changing direction indicated by the turn lamp and a second lane line in the lane changing direction indicated by the turn lamp is judged as a target lane.
When a vehicle drives in a lane changing process by pressing a lane line, judging a road area surrounded by the lane line pressed by the current vehicle and a first lane line in the opposite direction of lane changing as a self lane; and judging a road area surrounded by the lane line pressed by the current self vehicle and the first lane line in the lane changing direction as a target lane.
Referring to fig. 5, when the vehicle does not cross the lane line, the own lane is a road area surrounded by the lane line 1 and the lane line 2; if the turn signal indicates to change lanes to the left, the target lane is a road area surrounded by the lane line 1 and the lane line 3; if the turn signal indicates a lane change to the right, the target lane is a road area surrounded by the lane line 2 and the lane line 4.
Referring to fig. 6, when the vehicle crosses the lane line but does not completely cross the lane line, if the vehicle changes lane to the left, the own lane is a road area surrounded by the lane line 1 and the lane line 2, and the target lane is a road area surrounded by the lane line 1 and the lane line 3; when the lane change is made to the right, the own lane is a road area surrounded by the lane line 1 and the lane line 2, and the target lane is a road area surrounded by the lane line 2 and the lane line 4.
S102, a first vehicle located in a self lane and a second vehicle located in a target lane are determined in front vehicles of the vehicles.
In the embodiment of the invention, a vehicle, namely a first vehicle, belonging to the front of a self lane is determined by calculating the position relation between all vehicles in the front of the self lane and the left and right lane lines of the self lane; and determining a vehicle belonging to the front of the target lane, namely a second vehicle, by calculating the position relation between all vehicles in front of the vehicle and the left and right lane lines of the target lane.
Specifically, the left and right lane line equations of the own lane and the left and right lane line equations of the target lane are determined first. Referring to fig. 7, taking the left lane change as an example, lane line 1 and lane line 2 are left and right lane lines of the own lane, respectively, and lane line 3 and lane line 1 are left and right lane lines of the target lane, respectively.
The lane line 1 equation is:
Figure BDA0002619103760000101
the lane line 2 equation is:
Figure BDA0002619103760000102
the lane line 3 equation is:
Figure BDA0002619103760000103
wherein, a1，a2，a3Respectively the curvature change rates of the lane lines 1, 2 and 3; b1，b2，b3Respectively, the curvatures of lane lines 1, 2 and 3; c. C1，c2，c3Respectively are lane lines 1, 2 and 3 and the current vehicle course angle; d1，d2，d3The lane lines 1, 2, 3 are laterally offset from the origin of the vehicle coordinate system.
Suppose that the relative position coordinate of a certain vehicle in front in the coordinate system of the vehicle is (x)0，y0) And then:
if x0Is not less than 0 and
Figure BDA0002619103760000104
and is
Figure BDA0002619103760000105
If the vehicle is in the lane, the vehicle belongs to a vehicle in front of the self lane, namely a first vehicle;
if x0Is not less than 0 and
Figure BDA0002619103760000106
and is
Figure BDA0002619103760000107
And if the vehicle is satisfied, the vehicle belongs to the vehicle in front of the target lane, namely the second vehicle.
And S103, taking the vehicle with the minimum longitudinal relative distance to the vehicle in the first vehicle as a candidate following target of the own lane, and taking the vehicle with the minimum longitudinal relative distance to the vehicle in the second vehicle as a candidate following target of the target lane.
In the embodiment of the invention, the longitudinal relative distance between a first vehicle in front of a self lane and the self vehicle is compared, and one vehicle with the minimum longitudinal relative distance is selected from the first vehicles to serve as a candidate following target of the self lane; and comparing the longitudinal relative distance between the first vehicle in front of the target lane and the own vehicle, and selecting one vehicle with the smallest longitudinal relative distance from the second vehicles as a candidate following target of the target lane.
And S20, calculating the expected deceleration of the candidate following target of the lane and calculating the alarm index of the candidate following target of the vehicle and the lane for each lane of the self lane and the target lane, wherein the alarm index represents the collision risk degree.
In the embodiment of the invention, the operation of calculating the expected deceleration and the alarm index is executed from any lane of the lane and the target lane, taking one lane as an example:
calculating corresponding expected deceleration by acquiring longitudinal absolute acceleration and absolute speed of the candidate following target of the lane and longitudinal relative distance and longitudinal relative speed between the vehicle and the candidate following target of the laneDegree AaccThe calculation formula is shown in the following formula (1):
Figure BDA0002619103760000111
wherein v isrelIs the longitudinal relative speed between the vehicle and the candidate following target of the lane, aobjIs the longitudinal absolute acceleration, t, of the candidate following target of the lanesFor a predetermined safety time interval, drelIs the longitudinal relative distance between the vehicle and the candidate following target of the lane, vobjThe absolute speed of the candidate following target of the lane. t is tsIt is possible to take 0.8S.
In addition, referring to fig. 8, the corresponding warning indicator w is calculated by obtaining the longitudinal relative distance and the longitudinal relative speed between the vehicle and the candidate following target of the lane, and the absolute speed of the vehicle, and the calculation process is as follows:
first, a first distance d is calculated using a longitudinal relative speed between the vehicle and a candidate following target of the lane and an absolute speed of the vehiclebrAnd the first distance is an emergency braking distance that the vehicle and the candidate following target of the lane are decelerated to be static and do not collide, and the calculation formula is shown as the following formula (2):
Figure BDA0002619103760000121
wherein v isrelIs the longitudinal relative speed between the vehicle and the candidate following target of the lane, ts，delayFor a predetermined brake system reaction time, vegoIs the absolute speed of the vehicle, and vobj＝vego+vrel，amaxA maximum deceleration preset for the vehicle on a normal road. t is ts，delayIt may take 0.5S, amaxCan be taken up to 5m/s2。
Further, the second distance d is calculated using the longitudinal relative speed between the vehicle and the candidate following target of the lane and the absolute speed of the vehiclewThe second distanceThe vehicle and the candidate following target of the lane are all decelerated to be static and have no collision warning distance, and the calculation formula is shown as the following formula (3):
Figure BDA0002619103760000122
wherein, th，delayIs a preset driver reaction time of the vehicle. t is th，delayIt is possible to take 0.8S.
And finally, calculating the alarm index w by using the longitudinal relative distance between the vehicle and the candidate following target of the lane, the first distance and the second distance, wherein the calculation formula is shown as the following formula (4):
Figure BDA0002619103760000123
wherein d isrelThe longitudinal relative distance between the vehicle and the candidate vehicle-following target of the lane is adopted.
And S30, determining the best following target from the candidate following targets corresponding to the self lane and the candidate following targets of the target lane based on the expected deceleration and the alarm index corresponding to the self lane and the target lane respectively.
In the embodiment of the present invention, the higher the expected deceleration corresponding to the lane is, the lower the possibility that the candidate following target of the lane becomes the optimal following target is, and similarly, the higher the warning index corresponding to the lane is, the lower the possibility that the candidate following target of the lane becomes the optimal following target is. Thus, the magnitude of both the desired deceleration and the warning index is inversely proportional to the possibility of becoming the optimal following target.
The expected deceleration is calculated by a control index in the real-time longitudinal following control process of the self-vehicle, and the control target is the safe time distance when the self-vehicle decelerates to the same speed as the target and is related to the longitudinal control capability of the self-vehicle; the alarm index is the relative distance that two vehicles need to keep on the premise of not colliding under the condition that the candidate vehicle-following target expected deceleration is the same and the two vehicles are both decelerated to be in a static condition, and has certain hypothesis, and the relative distance is basically compared, and the longitudinal control index of the current vehicle is calculated without considering factors such as relative speed, relative acceleration and the like. Therefore, in the embodiment of the present invention, the comparison priority for setting the desired deceleration is higher than the alarm index, and in a specific implementation process, the step S30 may include the following steps:
comparing the desired deceleration corresponding to the self lane with the desired deceleration corresponding to the target lane; if the expected deceleration corresponding to the self lane is larger than the expected deceleration corresponding to the target lane, taking the candidate car following target of the target lane as the optimal car following target; if the expected deceleration corresponding to the self lane is smaller than the expected deceleration corresponding to the target lane, taking the candidate car following target of the self lane as the optimal car following target; if the expected deceleration corresponding to the self lane is equal to the expected deceleration corresponding to the target lane, comparing the alarm index corresponding to the self lane with the alarm index corresponding to the target lane; if the alarm index corresponding to the self lane is larger than the alarm index corresponding to the target lane, the candidate car following target of the target lane is used as the optimal car following target; and if the alarm index corresponding to the self lane is smaller than or equal to the alarm index corresponding to the target lane, taking the candidate car following target of the self lane as the optimal car following target.
Assume that the desired deceleration corresponding to the self-lane is aacc1The alarm index is w1The desired deceleration corresponding to the target lane is Aacc2The alarm index is w2：
If A isacc2＜Aacc1Selecting a candidate car following target of the target lane as an optimal car following target;
if A isacc2＞Aacc1Selecting a candidate car following target from the lane as an optimal car following target;
if A isacc1＝Aacc2And w2＜w1Selecting a candidate car following target of the target lane as an optimal car following target;
if A isacc1＝Aacc2And w2≥w1And selecting the candidate car following target from the lane as the optimal car following target.
The method for selecting the longitudinal control car-following target in the vehicle lane changing process provided by the embodiment of the invention determines candidate car-following targets of a self lane and a target lane in the vehicle lane changing process, further calculates expected deceleration of the candidate car-following targets of the two lanes and alarm indexes of the candidate car-following targets of the vehicle and the corresponding lane respectively, and further selects one of the candidate car-following targets of the two lanes as an optimal car-following target based on the expected deceleration and the alarm indexes corresponding to the two lanes respectively. According to the method and the device, the collision risk possibly caused by the longitudinal following of a single target in the automatic lane changing process of the vehicle with the front vehicle can be avoided, the safety of the automatic lane changing process is ensured, and the functional experience of a driver is improved.
Based on the method for selecting the longitudinal control following target in the vehicle lane change process provided by the embodiment, the embodiment of the present invention correspondingly provides a device for executing the method for selecting the longitudinal control following target in the vehicle lane change process, and a schematic structural diagram of the device is shown in fig. 9:
the candidate following target determining module 10 is configured to determine candidate following targets of lanes of the vehicle in a lane changing process, where the lanes include a self lane where the vehicle is located and a target lane where the vehicle changes lanes;
the optimal following target determining module 20 is used for calculating the expected deceleration of the candidate following target of the lane and calculating the alarm index of the vehicle and the candidate following target of the lane aiming at each lane of the self lane and the target lane, wherein the alarm index represents the collision risk degree; and determining the optimal following target from candidate following targets corresponding to the self lane and candidate following targets of the target lane based on the expected deceleration and the alarm index corresponding to the self lane and the target lane respectively.
Optionally, the candidate car following target determining module 10 is specifically configured to:
identifying a self lane and a target lane; determining a first vehicle located in a self lane and a second vehicle located in a target lane among vehicles ahead of the vehicles; and taking the vehicle with the minimum longitudinal relative distance to the vehicle in the first vehicle as a candidate following target of the self lane, and taking the vehicle with the minimum longitudinal relative distance to the vehicle in the second vehicle as a candidate following target of the target lane.
Optionally, the optimal following target determining module 20 for calculating the expected deceleration of the candidate following target of the lane is specifically configured to:
acquiring longitudinal absolute acceleration and absolute speed of the candidate following target of the lane and longitudinal relative distance and longitudinal relative speed between the vehicle and the candidate following target of the lane, and substituting the longitudinal absolute acceleration and the absolute speed and the longitudinal relative distance and the longitudinal relative speed into a first formula to obtain expected deceleration A of the candidate following target of the laneacc：
Figure BDA0002619103760000151
Wherein v isrelIs the longitudinal relative speed between the vehicle and the candidate following target of the lane, aobjIs the longitudinal absolute acceleration, t, of the candidate following target of the lanesFor a predetermined safety time interval, drelIs the longitudinal relative distance between the vehicle and the candidate following target of the lane, vobjThe absolute speed of the candidate following target of the lane.
Optionally, the optimal following target determining module 20 for calculating the warning index of the candidate following target of the vehicle and the lane is specifically configured to:
acquiring a longitudinal relative distance and a longitudinal relative speed between the vehicle and a candidate vehicle following target of the lane and an absolute speed of the vehicle;
substituting the longitudinal relative speed between the vehicle and the candidate following target of the lane and the absolute speed of the vehicle into the following second formula to obtain the first distance dbrAnd the first distance is an emergency braking distance that the vehicle and the candidate following target of the lane are decelerated to be static and not collided:
Figure BDA0002619103760000152
wherein v isrelIs the longitudinal relative speed between the vehicle and the candidate following target of the lane, ts，delayFor a predetermined brake system reaction time, vegoIs the absolute speed of the vehicle, amaxA maximum deceleration preset for the vehicle on a normal road;
substituting the longitudinal relative speed between the vehicle and the candidate following target of the lane and the absolute speed of the vehicle into a third formula to obtain a second distance dwAnd the second distance is an alarm distance that the vehicle and the candidate following target of the lane are decelerated to be static and not collided:
Figure BDA0002619103760000153
wherein, th，delayA preset driver reaction time for the vehicle;
substituting the longitudinal relative distance, the first distance and the second distance between the vehicle and the candidate car-following target of the lane into the following fourth formula to obtain the alarm index w of the vehicle and the candidate car-following target of the lane:
Figure BDA0002619103760000161
wherein d isrelThe longitudinal relative distance between the vehicle and the candidate vehicle-following target of the lane is adopted.
Optionally, the optimal following target determining module 20 is configured to determine an optimal following target from candidate following targets corresponding to the own lane and candidate following targets of the target lane based on the expected deceleration and the alarm indicator corresponding to the own lane and the target lane, and is specifically configured to:
comparing the desired deceleration corresponding to the self lane with the desired deceleration corresponding to the target lane; if the expected deceleration corresponding to the self lane is larger than the expected deceleration corresponding to the target lane, taking the candidate car following target of the target lane as the optimal car following target; if the expected deceleration corresponding to the self lane is smaller than the expected deceleration corresponding to the target lane, taking the candidate car following target of the self lane as the optimal car following target; if the expected deceleration corresponding to the self lane is equal to the expected deceleration corresponding to the target lane, comparing the alarm index corresponding to the self lane with the alarm index corresponding to the target lane; if the alarm index corresponding to the self lane is larger than the alarm index corresponding to the target lane, the candidate car following target of the target lane is used as the optimal car following target; and if the alarm index corresponding to the self lane is smaller than or equal to the alarm index corresponding to the target lane, taking the candidate car following target of the self lane as the optimal car following target.
The longitudinal control vehicle following target selection device in the vehicle lane changing process can avoid the collision risk possibly caused by longitudinal vehicle following based on a single target in the automatic vehicle lane changing process and the front vehicle, ensure the safety of the automatic lane changing process and improve the functional experience of a driver.
The method and the device for selecting the longitudinal control following target in the vehicle lane changing process are described in detail, a specific example is applied in the method to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include or include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A longitudinal control following target selection method in a vehicle lane change process is characterized by comprising the following steps:
determining candidate car-following targets of lanes of a vehicle in a lane changing process, wherein the lanes comprise a lane where the vehicle is located and a target lane where the vehicle changes;
calculating, for each of the self lane and the target lane, an expected deceleration of a candidate following target of the lane, and calculating a warning indicator of the vehicle and the candidate following target of the lane, the warning indicator representing a degree of collision risk;
and determining the best following target from the candidate following targets corresponding to the self lane and the candidate following targets of the target lane based on the expected deceleration and the alarm index corresponding to the self lane and the target lane respectively.
2. The method of claim 1, wherein determining candidate following targets for a lane of the vehicle during a lane change comprises:
identifying the self lane and the target lane;
determining a first vehicle located in the own lane and a second vehicle located in the target lane among vehicles ahead of the vehicles;
and taking the vehicle with the smallest longitudinal relative distance to the vehicle in the first vehicle as a candidate following target of the self lane, and taking the vehicle with the smallest longitudinal relative distance to the vehicle in the second vehicle as a candidate following target of the target lane.
3. The method of claim 1, wherein calculating the desired deceleration for the candidate car-following targets for the lane comprises:
acquiring longitudinal absolute acceleration and absolute speed of the candidate car-following target of the lane, longitudinal relative distance and longitudinal relative speed between the vehicle and the candidate car-following target of the lane, and substituting the longitudinal absolute acceleration and the absolute speed into a first formula to obtain expected deceleration A of the candidate car-following target of the laneacc：
Figure FDA0002619103750000021
Wherein v isrelIs the longitudinal relative speed between the vehicle and the candidate following target of the lane, aobjIs the longitudinal absolute acceleration, t, of the candidate following target of the lanesFor a predetermined safety time interval, drelIs the longitudinal relative distance between the vehicle and the candidate following target of the lane, vobjThe absolute speed of the candidate following target of the lane.
4. The method of claim 1, wherein the calculating the warning indicator of the candidate following target of the vehicle and the lane comprises:
acquiring a longitudinal relative distance and a longitudinal relative speed between the vehicle and a candidate vehicle following target of the lane and an absolute speed of the vehicle;
substituting the longitudinal relative speed between the vehicle and the candidate following target of the lane and the absolute speed of the vehicle into the following second formula to obtain a first distance dbrAnd the first distance is an emergency braking distance that the vehicle and the candidate following target of the lane are decelerated to be static and not collided:
Figure FDA0002619103750000022
wherein v isrelIs the longitudinal relative speed between the vehicle and the candidate following target of the lane, ts，delayFor a predetermined brake system reaction time, vegoIs the absolute speed of the vehicle, amaxA preset maximum deceleration for the vehicle on a normal road;
substituting the longitudinal relative speed between the vehicle and the candidate following target of the lane and the absolute speed of the vehicle into a third formula to obtain a second distance dwAnd the second distance is an alarm distance that the vehicle and the candidate following target of the lane are decelerated to be static and do not collide:
Figure FDA0002619103750000023
wherein, th，delayA preset driver reaction time for the vehicle;
substituting the longitudinal relative distance between the vehicle and the candidate car-following target of the lane, the first distance and the second distance into the following fourth formula to obtain the alarm index w of the candidate car-following target of the lane:
Figure FDA0002619103750000031
wherein d isrelAnd the longitudinal relative distance between the vehicle and the candidate car-following target of the lane is obtained.
5. The method of claim 1, wherein the determining a best following target from the candidate following targets corresponding to the self lane and the candidate following targets of the target lane based on the expected deceleration and the alarm index corresponding to each of the self lane and the target lane comprises:
comparing the expected deceleration corresponding to the self lane with the expected deceleration corresponding to the target lane;
if the expected deceleration corresponding to the self lane is larger than the expected deceleration corresponding to the target lane, taking the candidate car following target of the target lane as the optimal car following target;
if the expected deceleration corresponding to the self lane is smaller than the expected deceleration corresponding to the target lane, taking the candidate car following target of the self lane as the optimal car following target;
if the expected deceleration corresponding to the self lane is equal to the expected deceleration corresponding to the target lane, comparing the alarm index corresponding to the self lane with the alarm index corresponding to the target lane;
if the alarm index corresponding to the self lane is larger than the alarm index corresponding to the target lane, taking the candidate car following target of the target lane as the optimal car following target;
and if the alarm index corresponding to the self lane is smaller than or equal to the alarm index corresponding to the target lane, taking the candidate car following target of the self lane as the optimal car following target.
6. A longitudinal control following target selecting device in a vehicle lane change process, characterized by comprising:
the candidate vehicle following target determining module is used for determining candidate vehicle following targets of lanes in the lane changing process of the vehicle, wherein the lanes comprise a self lane where the vehicle is located and a target lane where the vehicle changes lanes;
the optimal following target determining module is used for calculating expected deceleration of candidate following targets of the lane and calculating a warning index of the vehicle and the candidate following targets of the lane, wherein the warning index represents collision risk degree; and determining the best following target from the candidate following targets corresponding to the self lane and the candidate following targets of the target lane based on the expected deceleration and the alarm index corresponding to the self lane and the target lane respectively.
7. The apparatus according to claim 6, wherein the candidate following target determination module is specifically configured to:
identifying the self lane and the target lane; determining a first vehicle located in the own lane and a second vehicle located in the target lane among vehicles ahead of the vehicles; and taking the vehicle with the smallest longitudinal relative distance to the vehicle in the first vehicle as a candidate following target of the self lane, and taking the vehicle with the smallest longitudinal relative distance to the vehicle in the second vehicle as a candidate following target of the target lane.
8. The apparatus according to claim 6, characterized in that said optimal following target determination module for calculating a desired deceleration of a candidate following target for the lane is specifically adapted to:
acquiring longitudinal absolute acceleration and absolute speed of the candidate car-following target of the lane, longitudinal relative distance and longitudinal relative speed between the vehicle and the candidate car-following target of the lane, and substituting the longitudinal absolute acceleration and the absolute speed into a first formula to obtain expected deceleration A of the candidate car-following target of the laneacc：
Figure FDA0002619103750000041
Wherein v isrelIs the longitudinal relative speed between the vehicle and the candidate following target of the lane, aobjIs the longitudinal absolute acceleration, t, of the candidate following target of the lanesFor a predetermined safety time interval, drelIs the longitudinal relative distance between the vehicle and the candidate following target of the lane, vobjThe absolute speed of the candidate following target of the lane.
9. The apparatus according to claim 6, wherein the optimal following target determination module for calculating the warning indicator of the candidate following target of the vehicle and the lane is specifically configured to:
acquiring a longitudinal relative distance and a longitudinal relative speed between the vehicle and a candidate vehicle following target of the lane and an absolute speed of the vehicle;
substituting the longitudinal relative speed between the vehicle and the candidate following target of the lane and the absolute speed of the vehicle into the following second formula to obtain a first distance dbrAnd the first distance is an emergency braking distance that the vehicle and the candidate following target of the lane are decelerated to be static and not collided:
Figure FDA0002619103750000051
wherein v isrelIs the longitudinal relative speed between the vehicle and the candidate following target of the lane, ts，delayFor a predetermined brake system reaction time, vegoIs the absolute speed of the vehicle, amaxA preset maximum deceleration for the vehicle on a normal road;
substituting the longitudinal relative speed between the vehicle and the candidate following target of the lane and the absolute speed of the vehicle into a third formula to obtain a second distance dwAnd the second distance is an alarm distance that the vehicle and the candidate following target of the lane are decelerated to be static and do not collide:
Figure FDA0002619103750000052
wherein, th，delayA preset driver reaction time for the vehicle;
substituting the longitudinal relative distance between the vehicle and the candidate car-following target of the lane, the first distance and the second distance into the following fourth formula to obtain the alarm index w of the candidate car-following target of the lane:
Figure FDA0002619103750000053
wherein d isrelAnd the longitudinal relative distance between the vehicle and the candidate car-following target of the lane is obtained.
10. The apparatus according to claim 6, wherein the best following target determining module is configured to determine a best following target from candidate following targets corresponding to the self lane and candidate following targets of the target lane based on the expected deceleration and the alarm indicator corresponding to each of the self lane and the target lane, and is specifically configured to:
comparing the expected deceleration corresponding to the self lane with the expected deceleration corresponding to the target lane; if the expected deceleration corresponding to the self lane is larger than the expected deceleration corresponding to the target lane, taking the candidate car following target of the target lane as the optimal car following target; if the expected deceleration corresponding to the self lane is smaller than the expected deceleration corresponding to the target lane, taking the candidate car following target of the self lane as the optimal car following target; if the expected deceleration corresponding to the self lane is equal to the expected deceleration corresponding to the target lane, comparing the alarm index corresponding to the self lane with the alarm index corresponding to the target lane; if the alarm index corresponding to the self lane is larger than the alarm index corresponding to the target lane, taking the candidate car following target of the target lane as the optimal car following target; and if the alarm index corresponding to the self lane is smaller than or equal to the alarm index corresponding to the target lane, taking the candidate car following target of the self lane as the optimal car following target.
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